A method and a system for controlling a parallel crane on a working machine by means of TCP control. According to the method, the parallel crane has a crane arm system with crane parts with a lifting arm section with two parallel arms, a rocker arm with a telescoping push arm, which crane parts are articulately mutually connected and to the working machine and can be displaced through impact of actuators and activators, which are controlled and monitored by a control system by which direction and motion speed of the parallel crane Tool Center Point (TCP) controlled by an operator using joysticks in the working machine, by applying speeds for the various crane parts of the parallel crane. A characteristic is that the speeds of the various crane parts of the parallel crane are automatically determined by the control system based on the position of the various crane parts.

The invention relates to a system (10) for remote and/or autonomous harvesting at least a portion of a tree, said system (10) comprising: a remotely and/or autonomously controlled means (110) configured for harvesting said at least a portion of a tree, a remotely and/or autonomously controlled Unmanned Aerial Vehicle (100), UAV, comprising, at least one means for holding (105) said harvested portion of said tree and being configured for transporting said harvested portion of said tree away from the original location of the tree, wherein said system comprising at least one means for detecting said tree to be harvested, and a base station (120) for communication with said means configured for harvesting at least a portion of a tree and/or said UAV. The invention also relates to a method for remotely and/or autonomously harvesting a tree.

A forestry work machine includes a main frame with an undercarriage. The main frame is supported by a swing bearing and is pivotable on the swing bearing relative to the undercarriage. A boom assembly is coupled to the forestry work machine and includes a working tool. A sensor detects an orientation of the working tool, and a controller coupled to the sensor is configured to adjust the working tool. The controller may adjust the working tool using an automatic mode or a semi-automatic mode.

A grapple arrangement to collect tree waste debris and similar debris includes a bottom jaw, a top jaw, and a drive arrangement. Each of the top jaw and the bottom jaw is designed to grasp and collect tree waste debris and similar debris of all sizes to minimize manual collection of branches, twigs, and other smaller tree waste debris and similar debris with minimal impact or damage to the surrounding ground, grass, and other environmental objects or structures.

A cable drag system having a drive subsystem and a tailhold on opposing sides of terrain for hauling equipment or loads. The device may include a carriage with load attachment, a mainline cable connected to a mainline winch and to the carriage to pull the carriage towards the winch. A haulback cable connected to a haulback winch and to the carriage pulls the carriage away from the winch. A drive subsystem may include: a first electric motor connected to the mainline winch; a second electric motor connected to the haulback winch; a DC bus connected to an electrical power source and an electric power storage; an electric drive controller operatively coupled to the DC bus and to the first and second electric motors, the drive controller arranged to provide power to or regenerate power from the electric motors. The result is more energy efficient than previous cable drag systems.

In the disclosed solution, a boom assembly of a work machine is controlled by tip control. In tip control, a control command is given to a tip of a boom assembly, converted into control commands for individual actuators of the boom assembly. In the disclosed solution, a variable related to a load and its position at the tip of the boom assembly is defined, and the variable in question related to the load and its position at the tip of the boom assembly is taken into account in the control command for the actuator.

In the present arrangement, a forest machine is controlled, which forest machine includes a body (2), a boom (3) in connection with the body (2) and a tool (4) at the end of the boom (3). A sensor (9) arrangement determines in advance the size of utilizable free space (1 1A, 1 1B) starting from the end of the boom (3). This determination includes determining a direction and a length of the free space (11B). The operation of the tool (4) is allowed into the direction and for the length of the utilizable free space (1 1A, 1 1B) determined in advance.

A production system for a forestry application comprising a server and a wireless production network, configured to be connected to forest machines and vehicles, at least one forestry harvester vehicle and one forwarder vehicle, the vehicles having a wireless data connection to the production system server and network, having a positioning system, identify the type of processed logs, measure the amount of processed logs, measure the lengths of processed logs, measure the quality of the processes logs, visually record the vehicle surroundings, process the recorded images to identify objects, store them, and send them via the production network, the vehicles having a display so that the vehicle operator may compare images with different time stamps, the system adapted to visualize changes between the images based on the identified objects and time stamps, so that the vehicle operator may identify tracks, objects, logs, log piles during visually impaired conditions.

The present disclosure relates to a crane arrangement (2) comprising a crane controller (200) for control of movement of a crane tool assembly (10) arranged at a second, free end of a crane boom system, said crane controller being arranged to receive a directional command for rotational displacement of the tool around its rotation axis, z_r, from an initial pointing direction, x0, of the direction indicator (11) of a tool (9) and to based thereon control at least one of said plurality of actuators to perform displacement of the tool around its rotation axis, z_r according to the directional command to a desired pointing direction, x1, of the direction indicator. The crane controller is further arranged to receive a drive command for movement of the crane tool assembly and to control at least one of said plurality of actuators to perform movement of the crane tool assembly along the desired pointing direction, x1, of the direction indicator (11) of the tool (9).

A crane with a crane control, wherein the crane control includes rises a coordinate control system with a plurality of nodes defined in the crane, a three-axis coordinate system including x, y and z axes that intersect each other in orthogonal main planes in the space, a node information processing module, a route establishment module and an operation processing module, wherein the node information processing module is configured to collect and store node information in an initial state of the crane, and the route establishment module is configured, based on a control command indicated by a crane operator, to establish an effective operation path for each node to a route in which the operation module is used, in an actual route, for displacing a crane tip included in the crane from a current starting or initial coordinate position in the initial state to a desired target coordinate position in the space.